Calibration and transformation of a camera system's coordinate system

A system for locating, in a robot's coordinate system, a tool extending from an arm of the robot, the system comprising:

• at least one non-transitory storage medium storing instructions and one or more modules for executing operations on image data, the one or more modules comprising instructions for:
• determining from image data a location of a tool in a camera system's coordinate system, wherein determining comprises detecting from the image data first and second peripheral sidewall edge segments corresponding to sides of the tool within a field of view of the camera system, and computing a centerline based on an average between the detected first and second peripheral sidewall edge segments;
• and
• translating the location of the tool from the camera system's coordinate system into the robot's coordinate system using a predetermined transformation.